/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
uint8_t RX_BUFF =0;
uint8_t mode =0;
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
// 小车前进
void car_forward(void) {
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 400); // 稍快
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 380);
}
// 小车后退
void car_back(void) {
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 350);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 350);
}
// 小车左转
void car_left(void) {
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 250);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 500);
}
// 小车右转
void car_right(void) {
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 500);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 250);
}
// 小车停止
void car_stop(void) {
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 0);
}
// 循迹逻辑
void Track_Logic(void) {
    uint8_t left = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
    uint8_t mid  = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_5);
    uint8_t right= HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1);
    // 优先处理急转弯
    if (left == 0 && mid == 0) {
        car_left(); // 左急转
    } else if (right == 0 && mid == 0) {
        car_right(); // 右急转
    } else if (left == 0 && mid == 1 && right == 1) {
        car_left();
    } else if (right == 0 && mid == 1 && left == 1) {
        car_right();
    } else if (mid == 0 && left == 1 && right == 1) {
        car_forward();
    } else if (mid == 1 && left == 1 && right == 1) {
        car_stop();
    }
}
// 串口接收回调
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if (huart->Instance == USART2)
    {
        switch (RX_BUFF)
        {
            case 'F': if(mode==0) car_forward(); break;
            case 'B': if(mode==0) car_back(); break;
            case 'R': if(mode==0) car_left(); break;
            case 'L': if(mode==0) car_right(); break;
            case 'S': if(mode==0) car_stop(); break;
            case 'M': mode = !mode; break; // 模式切换
            default: break;
        }
        HAL_UART_Receive_IT(&huart2, &RX_BUFF, 1);
    }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
  HAL_UART_Receive_IT(&huart2, &RX_BUFF, 1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    if(mode == 1) {
        Track_Logic();
    }
    HAL_Delay(10);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
